diff --git a/scenarios/ArMemCore/config/ArVizStorage.cfg b/scenarios/ArMemCore/config/ArVizStorage.cfg
index 5e8b630736a25dcd37ccfe9547d599b49a8dd6c6..302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf 100644
--- a/scenarios/ArMemCore/config/ArVizStorage.cfg
+++ b/scenarios/ArMemCore/config/ArVizStorage.cfg
@@ -27,7 +27,7 @@
# ArmarX.ArVizStorage.EnableProfiling = false
-# ArmarX.ArVizStorage.HistoryPath: Destination path where the history are serialized to
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history is serialized to
# Attributes:
# - Default: RobotAPI/ArVizStorage
# - Case sensitivity: yes
@@ -68,7 +68,7 @@
# ArmarX.ArVizStorage.TopicName = ArVizTopic
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/DebugObserver.cfg b/scenarios/ArMemCore/config/DebugObserver.cfg
index 459d0d1a5bcd9ea89ef01e161eb903fc8a4bf1cb..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArMemCore/config/DebugObserver.cfg
+++ b/scenarios/ArMemCore/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/MemoryNameSystem.cfg b/scenarios/ArMemCore/config/MemoryNameSystem.cfg
index dfe9b389392a186f5baef2403145e31d49646f58..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArMemCore/config/MemoryNameSystem.cfg
+++ b/scenarios/ArMemCore/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg b/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
index 4683563a9c97e6bb11805b8d903dbe2f705a3fd2..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/DebugObserver.cfg b/scenarios/ArMemExample/config/DebugObserver.cfg
index 459d0d1a5bcd9ea89ef01e161eb903fc8a4bf1cb..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArMemExample/config/DebugObserver.cfg
+++ b/scenarios/ArMemExample/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/ExampleMemory.cfg b/scenarios/ArMemExample/config/ExampleMemory.cfg
index aac8c2e88be85372ac0296f79579f8d2c32665e4..e2e7bb719d4629ed88b2127cf7c97159bdb79341 100644
--- a/scenarios/ArMemExample/config/ExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemory.cfg
@@ -26,7 +26,7 @@
ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -143,6 +143,23 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.MemoryName = Example
+# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
# ArmarX.ExampleMemory.mem.ltm.enabled:
# Attributes:
# - Default: false
@@ -152,12 +169,98 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.ltm.enabled = false
-# ArmarX.ExampleMemory.mem.ltm.storagepath: The path to the memory storage.
+# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
# Attributes:
-# - Default: /tmp/MemoryExport/Example
+# - Default: 1024
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExampleMemory.mem.ltm.storagepath = /tmp/MemoryExport/Example
+# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.storagepath = Default value not mapped.
# ArmarX.ExampleMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
@@ -178,6 +281,15 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.ExampleMemory.p.enableRemoteGui: If true, the memory cotent is shown in the remote gui.Can be very slow for high-frequency updates!
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.p.enableRemoteGui = false
+
+
# ArmarX.ExampleMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
# - Default: DebugObserver
diff --git a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
index df84ec74b9f589842815ba742960cbc360da01e4..9c012266f8691c27cfa40be3ad793c081877178e 100644
--- a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
@@ -26,7 +26,7 @@
ArmarX.ArMemExampleClient.tpc.sub.MemoryListener = MemoryUpdates
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/MemoryNameSystem.cfg b/scenarios/ArMemExample/config/MemoryNameSystem.cfg
index dfe9b389392a186f5baef2403145e31d49646f58..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArMemExample/config/MemoryNameSystem.cfg
+++ b/scenarios/ArMemExample/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg b/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
index 4683563a9c97e6bb11805b8d903dbe2f705a3fd2..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 7a7d65f0740024f7ef1d7b43c667c2971962429b..dc7309cf18c368d85994cc06a2944b856d9832f4 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -51,6 +51,9 @@ namespace armarx
"If enabled, core segments are added when required by a new provider segment."
"This will usually be off for most memory servers.");
+ defs->optional(p.enableRemoteGui, "p.enableRemoteGui",
+ "If true, the memory cotent is shown in the remote gui."
+ "Can be very slow for high-frequency updates!");
return defs;
}
@@ -60,6 +63,7 @@ namespace armarx
return "ExampleMemory";
}
+
void ExampleMemory::onInitComponent()
{
// Usually, the memory server will specify a number of core segments with a specific aron type.
@@ -80,8 +84,11 @@ namespace armarx
void ExampleMemory::onConnectComponent()
{
- createRemoteGuiTab();
- RemoteGui_startRunningTask();
+ if (p.enableRemoteGui)
+ {
+ createRemoteGuiTab();
+ RemoteGui_startRunningTask();
+ }
}
void ExampleMemory::onDisconnectComponent()
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 66a500eeb43043ceb660d9ad9c720d2dc946fb66..62ea177f496296082cac90aecc6e9e6f35d450a8 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -96,6 +96,8 @@ namespace armarx
};
CoreSegments core;
+
+ bool enableRemoteGui = false;
};
Properties p;
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 0d89cd82cce205a1032dfe9d895bb4845f7bdc53..36b2e7036df83d0b99731d6773eb4465e7b75997 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -224,7 +224,7 @@ namespace armarx::armem::gui
for (auto& [name, reader] : memoryReaders)
{
data::StoreInput input;
- input.query = memoryGroup->queryWidget()->queryInput().toIce();
+ input.query = memoryGroup->queryInput().toIce();
reader.readAndStore(input);
}
@@ -294,7 +294,7 @@ namespace armarx::armem::gui
{
std::string status;
std::map<std::string, wm::Memory> data =
- diskControl->loadFromDisk(directory, memoryGroup->queryWidget()->queryInput(), &status);
+ diskControl->loadFromDisk(directory, memoryGroup->queryInput(), &status);
memoryWriters = mns.getAllWriters(true);
for (auto& [name, memory] : data)
@@ -361,7 +361,7 @@ namespace armarx::armem::gui
std::map<std::string, std::future<armem::query::data::Result>>& queries,
const std::map<std::string, armem::client::Reader>& readers)
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ armem::client::QueryInput input = memoryGroup->queryInput();
int recursionDepth = memoryGroup->queryWidget()->queryLinkRecursionDepth();
// Can't use a structured binding here because you can't capture those in a lambda
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
index 27af95f6223db049ff9f26fd41632ac2d7850173..8796557cdcfa2d8f337166cb6181bab6f92111c5 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
@@ -39,7 +39,13 @@ namespace armarx::armem::gui::memory
_queryWidget = new armem::gui::QueryWidget();
_queryWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
- _memoryTabWidget->addTab(_queryWidget, QString("Query"));
+ _memoryTabWidget->addTab(_queryWidget, QString("Query Settings"));
+ }
+ {
+ _snapshotSelectorWidget = new armem::gui::SnapshotSelectorWidget();
+ _snapshotSelectorWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
+
+ _memoryTabWidget->addTab(_snapshotSelectorWidget, QString("Snapshot Selection"));
}
{
_commitWidget = new armem::gui::CommitWidget();
@@ -67,6 +73,11 @@ namespace armarx::armem::gui::memory
return _memoryTabGroup;
}
+ SnapshotSelectorWidget* GroupBox::snapshotSelectorWidget() const
+ {
+ return _snapshotSelectorWidget;
+ }
+
CommitWidget* GroupBox::commitWidget() const
{
return _commitWidget;
@@ -77,4 +88,16 @@ namespace armarx::armem::gui::memory
return _tree;
}
-}
+ armem::client::QueryInput GroupBox::queryInput() const
+ {
+ armem::client::query::Builder queryBuilder(_queryWidget->dataMode());
+ queryBuilder.queryTargets(_snapshotSelectorWidget->queryTargets())
+ .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .snapshots(_snapshotSelectorWidget->selector());
+
+ return queryBuilder.buildQueryInput();
+ }
+
+} // namespace armarx::armem::gui::memory
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
index 562432d11bb4db79873dd97d200950127bf2e1db..10cf3d5972cc607cfb89fb9b2b0e1962027c9a75 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
@@ -26,8 +26,11 @@ namespace armarx::armem::gui::memory
TreeWidget* tree() const;
QGroupBox* queryGroup() const;
QueryWidget* queryWidget() const;
+ SnapshotSelectorWidget* snapshotSelectorWidget() const;
CommitWidget* commitWidget() const;
+ armem::client::QueryInput queryInput() const;
+
public slots:
@@ -45,6 +48,7 @@ namespace armarx::armem::gui::memory
QTabWidget* _memoryTabWidget;
QGroupBox* _memoryTabGroup;
QueryWidget* _queryWidget;
+ SnapshotSelectorWidget* _snapshotSelectorWidget;
CommitWidget* _commitWidget;
};
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index 82a8cca0b365cbdb367d28cff620864c72c570f6..ad07dc5b0de991b1e3296a94c66418caa20bf011 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,5 +1,7 @@
#include "QueryWidget.h"
+#include <limits>
+
#include <QCheckBox>
#include <QGroupBox>
#include <QHBoxLayout>
@@ -18,36 +20,28 @@ namespace armarx::armem::gui
QueryWidget::QueryWidget()
{
- QHBoxLayout* hlayout1 = new QHBoxLayout();
- QHBoxLayout* hlayout2 = new QHBoxLayout();
- QVBoxLayout* vlayout = new QVBoxLayout();
+ auto* vlayout = new QVBoxLayout();
_dataCheckBox = new QCheckBox("Get Data");
_dataCheckBox->setChecked(true);
+ vlayout->addWidget(_dataCheckBox);
+
+ auto* recDepthHLayout = new QHBoxLayout();
+ vlayout->addLayout(recDepthHLayout);
- _recursionDepthSpinner = new QSpinBox();
- _recursionDepthSpinner->setMinimum(-1);
+ _recursionDepthSpinner = new QSpinBox(); // NOLINT
+ _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
_recursionDepthSpinner->setValue(0);
_recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
+ _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
+ recDepthHLayout->addWidget(_recursionDepthSpinner);
_recursionDepthLabel = new QLabel("Link resolution depth");
+ recDepthHLayout->addWidget(_recursionDepthLabel);
+ recDepthHLayout->addStretch();
_storeInLTMButton = new QPushButton("Store query result in LTM");
-
- _snapshotSelectorWidget = new SnapshotSelectorWidget();
-
- hlayout1->addWidget(_dataCheckBox);
- hlayout1->addWidget(_recursionDepthSpinner);
- hlayout1->addWidget(_recursionDepthLabel);
- hlayout1->addWidget(_storeInLTMButton);
-
- hlayout2->addWidget(_snapshotSelectorWidget);
-
- const int margin = 0;
- vlayout->setContentsMargins(margin, margin, margin, margin);
-
- vlayout->addLayout(hlayout1);
- vlayout->addLayout(hlayout2);
+ vlayout->addWidget(_storeInLTMButton);
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
@@ -72,18 +66,6 @@ namespace armarx::armem::gui
return _recursionDepthSpinner->value();
}
- armem::client::QueryInput QueryWidget::queryInput()
- {
- armem::client::query::Builder qb(dataMode());
- qb.queryTargets(_snapshotSelectorWidget->queryTargets())
- .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .snapshots(_snapshotSelectorWidget->selector());
-
- return qb.buildQueryInput();
- }
-
void
QueryWidget::setRecursionDepthSpinnerEnabled(int state)
{
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 3b950acf05899e1e187273d1a2d7da57def4de1e..e7a98a8026786a7c8e0c2acbfd8dc834cb72f16a 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -25,8 +25,6 @@ namespace armarx::armem::gui
int queryLinkRecursionDepth() const;
- armem::client::QueryInput queryInput();
-
public slots:
@@ -51,8 +49,6 @@ namespace armarx::armem::gui
QSpinBox* _recursionDepthSpinner;
QPushButton* _storeInLTMButton;
- SnapshotSelectorWidget* _snapshotSelectorWidget;
-
};
}